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M4220170607EN
UI Robot Technology Co. Ltd.
UIM2842
Position Velocity Tracking (PVT)
Position Velocity Tracking (PVT) mode is an extended mode of Position Tracking (PT)
mode. In this mode, user can enter both desired position and desired speed.
UIM2842 controller will instruct motor to run at the desired speed until it reaches the desired
position and then stop. User can enter, successively or discontinuously, both desired speed
and desired position. Shifting between the three modes is displayed in the following chart:
Figure6-3 Shifting between Motion Control Modes
6.2 Basic Instruction Acknowledgment (ACK)
Upon receiving an instruction, the UIM2842 controller will immediately send back an
Acknowledgment (ACK) message.
There are only two ACK messages for all of them, as
described below.
Error Message
If the received instruction is incorrect, UIM2842 will issue an error message and the
incorrect instruction will not be executed.
EE [Error Code] FF
Where, EE denotes an error message.
The error code is list below:
Error Code
65
66
Meaning
Syntax Error Value Error
Basic ACK Message
Power up
Instruction ENA;
1) H-bridge disabled, logic
circuit working
2) can accept, buffer and
operate instructions
offline
1) Approach
the
desired
speed
2) Keep running at the desired
speed
3) Set the desired speed at 0
to stop
VT Mode
1) set the desired speed, and then set the desired
position (or displacement) successively or
discontinuously
2) approach the desired speed while making sure the
desired position is achieved
3) keep running at the desired speed
4) stop after reaching the desired position
PT Mode
Instruction STP
;
Instruction QEC
;
Instruction STP 0;
1)
set the desired speed and position (or
displacement) successively or discontinuously
2) approach the desired speed while making sure the
desired position is achieved
3) keep running at the desired speed
4) stop after reaching the desired position
PVT Mode
Instruction OFF;
{SPD
;QEC
;}
{SPD
;STP
;}
Instruction STP
;
Instruction QEC
;
